Commit de6ee5bc by Justin Carpentier

### geometry: fix operator==

parent 5bd8ef10
 ... @@ -98,7 +98,8 @@ namespace eigenpy ... @@ -98,7 +98,8 @@ namespace eigenpy { self.angle() = angle; } { self.angle() = angle; } static bool __eq__(const AngleAxis & u, const AngleAxis & v) static bool __eq__(const AngleAxis & u, const AngleAxis & v) { return u.isApprox(v); } { return u.axis() == v.axis() && v.angle() == u.angle(); } static bool __ne__(const AngleAxis & u, const AngleAxis & v) static bool __ne__(const AngleAxis & u, const AngleAxis & v) { return !__eq__(u,v); } { return !__eq__(u,v); } ... ...
 ... @@ -178,9 +178,9 @@ namespace eigenpy ... @@ -178,9 +178,9 @@ namespace eigenpy return self.isApprox(other,prec); return self.isApprox(other,prec); } } static bool __eq__(const Quaternion& u, const Quaternion& v) static bool __eq__(const Quaternion & u, const Quaternion & v) { { return u.isApprox(v,1e-9); return u.coeffs() == v.coeffs(); } } static bool __ne__(const Quaternion& u, const Quaternion& v) static bool __ne__(const Quaternion& u, const Quaternion& v) ... ...
 ... @@ -20,7 +20,7 @@ assert(isapprox(np.linalg.norm(q.coeffs()),1)) ... @@ -20,7 +20,7 @@ assert(isapprox(np.linalg.norm(q.coeffs()),1)) r = AngleAxis(q) r = AngleAxis(q) q2 = Quaternion(r) q2 = Quaternion(r) assert(q==q2) assert(q==q) assert(isapprox(q.coeffs(),q2.coeffs())) assert(isapprox(q.coeffs(),q2.coeffs())) Rq = q.matrix() Rq = q.matrix() ... @@ -29,7 +29,7 @@ assert(isapprox(Rq*Rq.T,np.eye(3))) ... @@ -29,7 +29,7 @@ assert(isapprox(Rq*Rq.T,np.eye(3))) assert(isapprox(Rr,Rq)) assert(isapprox(Rr,Rq)) qR = Quaternion(Rr) qR = Quaternion(Rr) assert(q==qR) assert(q.isApprox(qR)) assert(isapprox(q.coeffs(),qR.coeffs())) assert(isapprox(q.coeffs(),qR.coeffs())) assert(isapprox(qR[3],1./np.sqrt(30))) assert(isapprox(qR[3],1./np.sqrt(30))) ... ...
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!